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Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 31:465a6e1e1db6
- Parent:
- 30:a16519224d58
- Child:
- 32:7355524d862f
diff -r a16519224d58 -r 465a6e1e1db6 main.cpp --- a/main.cpp Wed Oct 30 14:43:34 2019 +0000 +++ b/main.cpp Wed Oct 30 16:04:43 2019 +0000 @@ -30,6 +30,8 @@ // variables +int m = 0; + const float pi = 3.1416; const float l = 0.535; Ticker TickerStateMachine; @@ -556,26 +558,28 @@ CurrentState = horizontal_movement; StateChanged = true; }*/ - - while (beweging =='s') { + m++; + if (m<5) { EMGy_velocity = -0.02f; - pc.printf("beweging %c \n\r", beweging); pc.printf("beweging %f \n\r", EMGy_velocity); - + } - while (beweging == 'w') { + else if (m>=5 && m<=10) { EMGy_velocity = 0.02f; - pc.printf("beweging %c \n\r", beweging); pc.printf("beweging %f \n\r", EMGy_velocity); } - while(beweging != 's' || beweging !='w'){ + + else { EMGy_velocity = 0.0f; + pc.printf("beweging %f \n\r", EMGy_velocity); } - if ((pressed_1) || (pressed_2) /*|| (emg_switch(treshold_leg,EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg)))*/) { // EMG gebaseerde threshold aanmaken + + /*if ((pressed_1) || (pressed_2) || (emg_switch(treshold_leg,EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg)))) { // EMG gebaseerde threshold aanmaken CurrentState = horizontal_movement; StateChanged = true; + }*/ } -} + void while_horizontal_movement() { @@ -595,9 +599,11 @@ StateChanged = true; } */ + if (beweging == 'a') { EMGx_velocity = -0.02f; pc.printf(" you pressed %c \n\r" , beweging); + } if (beweging == 'd') { EMGx_velocity = 0.02f; @@ -606,6 +612,7 @@ else { EMGx_velocity = 0.0f; } + if ((pressed_1) || (pressed_2) /*|| (emg_switch(treshold_leg,EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg)))*/) { // EMG gebaseerde threshold aanmaken CurrentState = vertical_movement; StateChanged = true;